Model Based Nonlinear Cluster Space Control of Mobile Robot Formations. Mas, I., Kitts, C., & Lee, R. In Multi Robot Systems, Trends and Development, pages 53–70. InTech, 2011.
bibtex   
@incollection{mas:intech_chapter,
author ={I. Mas and C. Kitts and R. Lee},
title ={Model Based Nonlinear Cluster Space Control of Mobile Robot Formations},
booktitle ={Multi Robot Systems, Trends and Development},
pages ={53--70},
publisher ={InTech},
year = 2011,
editor = {Toshiyuki Yasuda},
}

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